JP2011104759A - Teaching auxiliary tool for robot control system, teaching method using the teaching auxiliary tool, and robot control system performing teaching by the teaching method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a teaching auxiliary tool for a robot control system capable of further simplifying teaching work and shortening a teaching time, a teaching method using the teaching auxiliary tool, and a robot control system for performing teaching by the teaching method. <P>SOLUTION: A teaching tool 50, i.e., one embodiment of the teaching auxiliary tool for the robot control system capable of performing teaching using an imaging device includes a tool body 51 having a triangular pyramid 52 in which colors of pyramid surfaces 52a, 52b, 52c are different from one another; and a handle 54 connected to the tool body 51. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a teaching aid for a robot control system, a teaching method using the teaching aid, and a robot control system that teaches using the teaching method, and in particular, teaching using an imaging device such as a camera. The present invention relates to a teaching aid for a robot control system capable of teaching, a teaching method using the teaching aid, and a robot control system for teaching by the teaching method.

  Industrial robots generally have a robot arm that can be swiveled and moved up and down, a robot hand that is provided at the tip of the robot arm and has a chuck portion for gripping a workpiece (part), and a robot arm and a robot hand. And a control unit that controls driving according to the control program. The automatic assembling apparatus includes a plurality of component supply trays for storing a large number of components, which are arranged at predetermined positions on the work table surface, and an assembly jig for assembling the components. .

  During operation of the automatic assembly apparatus, the robot arm is driven, the robot hand is moved to the position of a predetermined component supply tray, and the component is gripped by the tip chuck portion. From this state, the robot arm is driven, the robot hand is moved to the position of the assembly jig, and the part held by the chuck portion is assembled to the assembly jig. Thereafter, by repeating the same operation, a desired device is automatically assembled.

  In such an automatic assembling apparatus including an industrial robot, before starting an automatic operation, an operation called teaching for teaching the operation reference coordinates and the operation procedure to the robot is required. In conventional teaching work, an approximate coordinate position is obtained by computer simulation on a personal computer, etc., and then the operator manually operates the robot hand manually using a teaching pendant or teaching box. (See, for example, Patent Document 1 and Patent Document 2). Further, for example, in welding automation, teaching of a torch path and a torch angle is necessary.

  In the teaching work described above, setting the detailed coordinate position is very complicated and requires a long time, so a technique that can simplify the teaching work and shorten the teaching time has been proposed. (For example, see Patent Document 3).

  The robot control system proposed in Patent Document 3 performs teaching input to the robot including a robot arm, a robot provided at the tip of the robot arm and having a workpiece gripping chuck portion, and the robot. And a camera unit that can photograph at least a workpiece, and a predetermined coordinate position input by teaching on the operation unit is corrected based on an image captured by the camera unit and moved to the corrected coordinate position. And a control unit that drives and controls the robot.

  In addition, when teaching the operation of the robot hand at the time of workpiece gripping using a teaching pendant, a robot and a workpiece gripping method (for example, refer to Patent Document 4) and a stereo camera are provided. A stereo image type detection and movement device that can easily and quickly measure the three-dimensional position and orientation of the workpiece and quickly and precisely operate the robot arm tip and the robot hand based on the measured information (see, for example, Patent Document 5) ) Etc. are also proposed.

JP 2000-354919 A JP 2006-043844 A JP 2009-000782 A JP 2006-346792 A JP 2009-241247 A

  However, when performing teaching work using a teaching pendant or the like in the conventional technology as described above, it is necessary to repeat changing the position and orientation of the robot hand in a complicated manner at least for the first time. Therefore, the teaching work is still very complicated and takes a long time.

  Recently, with the increase in the number of robots introduced and the diversification of products, the required teaching man-hours are rapidly increasing. On the other hand, there is a chronic shortage of personnel at the manufacturing site, and in particular, there is an extremely shortage of skilled workers in teaching work. In addition, when teaching a robot that is actually used at a manufacturing site, the manufacturing line on which the robot is installed is stopped, so that the operating rate of the manufacturing line is lowered.

  The teaching aid of the robot control system may be installed in accordance with the position and orientation of the tip of the robot, and its three-dimensional position information and three-dimensional direction information may be measured. For example, it is connected to a mechanical three-dimensional measuring machine. In such a case, the installation location is required, and there are many cases where measurement cannot be performed due to mechanical interference between peripheral jigs and the respective parts of the measuring instrument.

  There is a method of shooting the teaching aid with a camera and measuring it from the position in the image. This method can avoid the problem of mechanical interference, but it is also partially hidden by jigs and the like and can not be seen completely. Therefore, measuring the three-dimensional position information and the three-dimensional direction information becomes a problem. It is also a problem to clearly identify teaching aids from other equipment in the surrounding environment.

  In view of such problems of the prior art, an object of the present invention is to provide a teaching aid for a robot control system for further simplifying teaching work and further reducing teaching time.

  Furthermore, it is providing the teaching method using the auxiliary tool for teaching, and the robot control system which teaches by the teaching method.

  To achieve the above object, a teaching aid for a robot control system according to the present invention is a teaching aid for a robot control system capable of teaching using an imaging device, and the colors of the pyramid surfaces are mutually different. An assisting device main body having different pyramid-shaped portions and a gripping portion connected to the assisting device main body are provided.

  Here, the pyramid-shaped portion is preferably a triangular pyramid shape, but is not necessarily limited to this shape, and may be, for example, a quadrangular pyramid shape.

  According to the teaching aid of the robot control system configured as described above, the teaching aid is mainly used without repeating the complicated change of the position and orientation of the robot hand by the operation of the teaching pendant. It is possible to simultaneously input the desired position and orientation of the robot hand simply by pointing, and the teaching work becomes extremely easy and the time required for teaching can be greatly shortened.

  Moreover, in the teaching aid of the robot control system of the present invention, it is preferable that the pyramid-shaped portion further includes light emitting means such that the pyramid surface emits each color.

  According to the teaching aid of the robot control system having such a configuration, each pyramid surface of the pyramid-shaped portion emits light with a different color, so that the boundary with the surrounding environment becomes clear in the image data when the image is captured. In addition, because of the difference in color, even if only a single surface is imaged, not all surfaces, all the information on the three-dimensional posture such as rotation and tilt of the auxiliary tool from the color of the surface Can be obtained. Even if only a part of each of the two ridge lines connected to the tip of each triangular surface can be seen, the position of the vertex can be measured by extending the ridge line, and the posture can also be measured. Even if a part of it is hidden by surrounding jigs, there will be no trouble in measurement. This makes it easier to recognize the pyramid shape part in the image data, and improves the detection accuracy of the three-dimensional position information and the three-dimensional direction information of the teaching aid, which may cause a failure in teaching. Therefore, accurate teaching with few errors can be easily performed.

  Alternatively, in order to achieve the above object, a teaching method for a robot control system according to the present invention is a teaching method for a robot control system capable of teaching using an imaging apparatus, and is a robot controlled by the robot control system. From the imaging process of imaging the robot control system teaching auxiliary tool held at the position and posture where the hand should stop or pass by at least one imaging device, and the image data captured in this imaging process, Recognizing a portion corresponding to the robot control system teaching aid based on the shape data or color data of the robot control system teaching aid, and the three-dimensional position information and three-dimensional information of the robot control system teaching aid Image processing step for calculating direction information, and the tertiary calculated in the image processing step A conversion step of converting the position information and the three-dimensional direction information into control data for the robot hand by the robot control system based on a relative positional relationship between the robot and the imaging device. To do.

  Here, in the image processing step, more specifically, it is conceivable to calculate the three-dimensional coordinates of the apex of the pyramid-shaped portion and the three-dimensional angle of the apex direction.

  According to the teaching method of the robot control system configured as described above, the operator mainly points with the teaching aid without repeatedly changing the position and orientation of the robot hand in a complicated manner by operating the teaching pendant. Thus, the desired position and orientation of the robot hand can be input simultaneously, which makes teaching work extremely easy and significantly reduces the time required for teaching.

  Alternatively, in order to achieve the above object, the robot control system of the present invention is characterized in that teaching is performed by the teaching method of the robot control system.

  According to the robot control system having such a configuration, the operator can mainly perform the desired operation only by pointing with the teaching aid without repeatedly changing the position and orientation of the robot hand in a complicated manner by operating the teaching pendant. The position and orientation of the robot hand can be input at the same time, making teaching work extremely easy and greatly reducing the time required for teaching.

  According to the teaching aid of the robot control system, the teaching method of the robot control system, or the robot control system of the present invention, the operator repeatedly changes the position and orientation of the robot hand in a complicated manner by operating the teaching pendant. Without having to do so, the desired robot hand position and orientation can be input simultaneously by simply pointing with the teaching aid, making teaching work extremely easy and significantly reducing the time required for teaching. Become.

FIG. 1 is a schematic block diagram of a robot control system 100 according to an embodiment of the present invention. FIG. 2 is a schematic diagram showing the arrangement of the robot 1 and the stereo cameras 20a and 20b of the robot control system 100. FIG. 3 is a schematic diagram of the teaching pendant 10 operated by an operator when teaching the robot 1. FIG. 4 is an overview diagram of a teaching tool 50 used for teaching the robot 1. 5A to 5C are detailed views of the tool body 51 of the teaching tool 50 viewed from three directions, FIG. 5A is a plan view of the tool body 51, and FIG. 5B is a tool. FIG. 5C is a front view of the main body 51, and FIG. 5C is a bottom view of the tool main body 51. 6 is an overview diagram showing another example of a robot hand 3. FIG. It is a figure which shows the state in which a part of teaching tool 50 is hidden with the obstruction 60. FIG.

  Embodiments of the present invention will be described below with reference to the drawings.

<Configuration of Robot Control System 100>
FIG. 1 is a schematic block diagram of a robot control system 100 according to an embodiment of the present invention. FIG. 2 is a schematic diagram showing the arrangement of the robot 1 and the stereo cameras 20a and 20b of the robot control system 100. FIG. 3 is a schematic diagram of the teaching pendant 10 operated by an operator when teaching the robot 1.

  As shown in FIG. 1, the robot control system 100 includes a robot 1 that can perform various operations by teaching (teaching), a controller 5 that drives and controls each part of the robot 1, and teaching the robot 1. Teaching pendant 10 operated by an operator when performing the operation, two stereo cameras 20a and 20b arranged to look down on the robot 1 and its surroundings from different positions above them, and these stereo cameras 20a and 20b And a personal computer 30 that performs image processing of the image data captured by the computer.

  As shown in FIG. 2, the robot 1 is a vertical 6-axis type robot having a multi-joint robot arm 2, but is not limited thereto. For example, a 4-axis horizontal type robot may be used. At the tip of the robot arm 2, at least one or more detachable robot hands 3 are provided. In FIG. 2, the workpiece gripping chuck portion attached to the robot hand 3 is omitted. The robot hand 3 is further provided with at least one, for example, a workpiece gripping chuck or a spot welding gun in accordance with the content of the work to be performed. FIG. 6 shows another example of the robot hand 3. In the robot hand 3, four workpiece gripping chuck portions 4 are provided.

  The controller 5 drives and controls each unit such as the robot arm 2 and the robot hand 3 of the robot 1. Specifically, it controls the rotation of a motor (not shown) that drives the robot arm 2, the robot hand 3, etc., and follows a pre-stored control program or plays back the contents of teaching work. Thus, the robot arm 2 or the robot hand 3 is caused to perform a desired work.

  The controller 5 is also connected with a teaching pendant 10, stereo cameras 20 a and 20 b, and a personal computer 30. That is, the controller 5 also has an interface function with these devices.

  As shown in FIG. 3, the teaching pendant 10 is a small device for an operator to perform various operations when teaching the robot 1. The teaching pendant 10 is connected wirelessly so that mutual communication with the controller 5 is possible, but this connection may be a wired connection.

  The teaching pendant 10 is provided with an LCD (liquid crystal) display 11 capable of various displays and operations in a central portion of the teaching pendant 10. On the left and right sides of the display 11, operation of the robot 1 such as start, stop, teaching, etc. A plurality of software keys 11a are provided. Thereby, it is possible to switch to a teaching mode for teaching the robot 1 and a mode for playing back the work content taught in the teaching mode.

  Furthermore, grips 12 and 13 are provided on the left and right sides of the teaching pendant 10 for the operator to hold. An emergency stop button 14 is provided in the upper center of the teaching pendant 10, and the back of the grip 12 is enabled by a three-position method for an operator to avoid danger during unsteady work such as teaching or trial operation. A switch (not shown) is provided.

  Each of the stereo cameras 20a and 20b can acquire the distance and the angle to the object imaged by the triangulation principle based on the parallax of the image imaged through the pair of left and right lenses. As shown in FIG. 2, these stereo cameras 20a and 20b can take an image of the teaching tool 50 (details will be described later) held by the operator by looking down at the robot 1 and its surroundings from different positions above them. Are arranged as follows. It is not always essential to place two or more stereo cameras. However, depending on the positional relationship between the robot arm 2 or the robot hand 3 of the robot 1 and the teaching tool 50, at least a part of the imaging angle of view is obstructed and a blind spot is generated. There is a risk of not being caught. In order to avoid such a situation as much as possible, it is preferable to arrange two or more stereo cameras.

  The personal computer 30 is connected by a wireless LAN so that mutual communication with the controller 5 is possible, but may be connected by a wired LAN, for example. The personal computer 30 can be used to monitor images captured by the stereo cameras 20a and 20b during automatic operation of the robot 1 in addition to performing image processing to be described later. Further, this image may be monitored by the teaching pendant 10. For example, a dedicated image processing module may be used instead of the personal computer 30. A configuration in which the same function is built in the controller 5 is also conceivable.

<Teaching tool 50>
FIG. 4 is an overview diagram of a teaching tool 50 used for teaching the robot 1. 5A to 5C are detailed views of the tool body 51 of the teaching tool 50 viewed from three directions, FIG. 5A is a plan view of the tool body 51, and FIG. 5B is a tool. FIG. 5C is a front view of the main body 51, and FIG. 5C is a bottom view of the tool main body 51.

  As shown in these drawings, the teaching tool 50 includes a tool main body 51 having an elongated triangular pyramid-shaped triangular pyramid portion 52 and a short cylindrical synthetic rubber base 53 provided at the bottom thereof, and the tool. The handle 51 is connected to the main body 51 on the opposite side of the apex 52 d and is a round bar-like handle 54 thinner than the base 53.

  The colors of the pyramid surfaces 52a, 52b, and 52c of the triangular pyramid portion 52 of the tool body 51 are different from each other. Specifically, a red thin polypropylene sheet is bonded to the first pyramid surface 52a, a green thin polypropylene sheet is bonded to the second pyramid surface 52b, and the third pyramid surface 52c is bonded. The blue thin polypropylene sheet is bonded.

  The inside of the triangular pyramid portion 52 itself is hollow as shown in FIG. 5C. For example, the triangular pyramid portion 52 is made of a resin having translucency, and a light source such as an LED or the like. It is preferable to incorporate a battery or the like.

  When the light source is turned on during teaching work, the pyramid surfaces 52a, 52b, 52c of the triangular pyramid portion 52 emit light in red, yellow, and blue, respectively. When image processing is performed on image data captured by the stereo cameras 20a and 20b, if the triangular pyramid 52 emits light in three colors, the boundary with the surrounding environment becomes clear. This facilitates recognition of the portion corresponding to the triangular pyramid portion 52 in the image data, and improves the detection accuracy of the three-dimensional coordinates of the vertex 52d of the triangular pyramid portion 52 and the three-dimensional angle of the orientation of the vertex 52d.

  The handle 54 is not necessarily limited to a round bar shape, but may be a shape that makes it easier for the work environment and the operator to perform teaching. For example, the tip of the handle 54 itself may be curved so that it can be gripped laterally from the triangular pyramid 52. Further, the same configuration may be adopted by attaching another member to the tip of the handle 54.

  Note that the handle 54 does not necessarily have to be fixed in a state of being connected to the tool body 51. For example, a mechanism for attaching the handle 54 may be provided in the tool main body 51, and a plurality of types of handles having different shapes may be prepared so that they can be used as necessary.

<Teaching method using teaching tool 50>
Teaching of the robot 1 using the teaching tool 50 is performed by repeating the following steps (1) to (3). Prior to these, the following preparations are required.

  First, calibration (hand-eye calibration) is performed to calculate the relative positional relationship between the robot 1 (hand) and the stereo camera 20a (eye) in a state where the arrangement of the stereo cameras 20a and 20b and the robot 1 is determined. )I do. The distance and angle of the object to be captured acquired from the image data captured by the stereo camera 20a are based on the position of the stereo camera 20a (camera coordinate system). By performing this calibration in advance, the robot It becomes possible to precisely convert to control data (robot coordinate system) with the position of 1 as a reference. Similarly, calibration is performed for the stereo camera 20b and the robot 1 in order to calculate the relative positional relationship.

  Further, the shape data of the teaching tool 50 and the color data of the respective pyramidal surfaces 52a, 52b, 52c (for example, as three-dimensional CAD data) are also input to the personal computer 30 that performs image processing.

(1) Imaging of Teaching Tool 50 by Stereo Cameras 20a and 20b After switching to the teaching mode by operating the teaching pendant 10, the teaching tool 50 is firmly held at the position and posture where the robot hand 3 should stop or pass. At this time, the position at which the robot hand 3 should stop or pass is accurately instructed by the vertex 52d of the tool body 51, and the posture to be taken by the robot hand 3 at that position (for example, the moving direction of the workpiece gripping chuck). The posture of the tool main body 51 (the direction indicated by the center line (one-dot chain line) of the tool main body 51 shown in FIG. 5B) is accurately matched.

  Next, imaging with the stereo cameras 20a and 20b is performed by a predetermined operation of the teaching pendant 10 while the position and posture of the tool body 51 are maintained.

(2) Image processing such as recognizing the teaching tool 50 from the captured image data First, the image data captured by the stereo camera 20a is searched for the presence or absence of a portion having the shape feature of the teaching tool 50. If it can be recognized that such a part exists, the three-dimensional position information and the three-dimensional direction information of the teaching tool 50 are calculated based on the shape data of the teaching tool 50 from the image data of the part. More specifically, the three-dimensional coordinates (X1, Y1, Z1) of the vertex 52d of the tool body 51 and the three-dimensional angle (A1, B1, C1) of the direction of the vertex 52d are calculated.

  Similarly, if it can be recognized from the image data picked up by the stereo camera 20b that there is a portion having the shape characteristic of the teaching tool 50, the three-dimensional coordinates (X2, Y2, Z2) of the vertex 52d of the tool body 51 and this A three-dimensional angle (A2, B2, C2) in the direction of the vertex 52d is calculated.

  If the entire triangular pyramid 52 has a certain length, as shown in FIG. 7, for example, the apex 52d of the triangular pyramid and other parts are behind the obstacle 60, Any of the pyramidal surfaces 52a, 52b, 52c faces the direction of the stereo camera 20a or the stereo camera 20b. For example, if 52b faces the direction of the stereo camera 20a, it can be seen from the color of the captured triangle that the triangle is the pyramid surface 52b. Furthermore, if a part of the ridge lines 52e and 52f connected to the vertex 52d of the pyramid surface 52b can be seen from the stereo camera 20a, the position of the vertex 52d can be measured as an intersection on the extension line. Further, from the angle between the ridge lines 52e and 52f at the vertex 52d, it can be distinguished from other corners of the same triangle or in the environment other than the teaching tool 50. The orientation of the pyramid surface 52b can be determined from the directions of the ridge lines 52e and 52f, and the three-dimensional position information and the three-dimensional direction information of the teaching tool 50 can be determined in combination with the color information.

  Even if the vertex 52d of the tool main body 51 is shaded by some obstacle and image data of the corresponding portion is not obtained, the vertex 52d depends on the position where the extended lines of the ridge lines of the pyramid surfaces 52a, 52b, 52c intersect. It is also possible to accurately obtain the position of.

  Further, since the order of the colors of the respective pyramidal surfaces 52a, 52b, and 52c is known, for example, even if the red pyramidal surface 52a itself does not appear in the imaging data, the green pyramid surface 52b and the blue pyramidal surface 52c. Can appear in the imaging data, the position and orientation of the red pyramid surface 52a can also be calculated based on them.

  The vertex 52d is preferably on the center line of the tool body 51, but may be displaced from the center line. When the vertex 52d is deviated from the center line, even if the operator points the vertex 52d to a desired location, the controller 5 calculates coordinates deviated from the desired location. Therefore, correction data corresponding to each of the pyramidal surfaces 52a, 52b, and 52c is stored in the controller 5 in advance. Then, the coordinate data of each pyramid surface 52a, 52b, 52c obtained based on the captured image is corrected by the correction data and converted to calculate the coordinates of the vertex 52d, thereby obtaining the coordinates of a desired location. It can be close to the exact value. Alternatively, by calculating the coordinates of the vertex 52d by averaging the coordinate data of the vertices 52b of each pyramid surface obtained based on the captured image, the coordinates of a desired location can be brought close to an accurate value. In this manner, by correcting the coordinates of the vertex 52 with a predetermined calculation formula, the controller 5 can bring the coordinates of a desired location closer to an accurate value even if the vertex 52d is deviated from the center line of the tool body 51. it can.

  Thus, since the teaching tool 50 has a characteristic shape as described above, it has high robustness when recognizing the shape of the teaching tool 50 from image data, and prevents errors in teaching as much as possible. Less accurate teaching can be performed easily.

  Further, by using two stereo cameras 20a and 20b, regardless of the positional relationship between the robot arm 2 or the robot hand 3 of the robot 1 and the teaching tool 50, at least one of the stereo cameras 20a and 20b is used as a teaching tool. 50 can be captured within the angle of view almost certainly.

(3) Conversion to Control Data for Robot 1 The three-dimensional position information and three-dimensional direction information of the teaching tool 50 calculated in (2) above is three-dimensional data in the camera coordinate system of each of the stereo cameras 20a and 20b. Therefore, based on the calibration result performed in advance, the robot coordinate system is converted into three-dimensional coordinates (x, y, z) and three-dimensional angles (a, b, c). Convert to control data.

  In addition, when the three-dimensional position information and the three-dimensional direction information of the teaching tool 50 can be obtained only from one of the stereo cameras 20a and 20b, only the obtained information may be used. On the other hand, when 3D position information and 3D direction information are obtained from both, for example, both information may be averaged and used, or it is determined that the reliability is higher. Only the information on the other side may be used.

  By controlling the robot hand 3 according to the control data of the robot 1 thus converted, it is possible to cause the robot hand 3 to accurately perform the work based on the position and posture as taught. As a result, the possibility of teaching failure can be extremely reduced, and more accurate teaching can be easily performed with very few errors.

  According to the configuration of the embodiment described above, it is desirable that the operator mainly indicates with the teaching tool 50 without repeatedly changing the position and orientation of the robot hand 3 in a complicated manner by operating the teaching pendant 10. The position and orientation of the robot hand 3 can be input at the same time, and the teaching work can be made extremely easy and the time required for teaching can be greatly shortened.

  Further, by detecting the direction D1 parallel to the base 52c1 of the pyramidal surface 52c shown in FIG. 6 by image processing, the moving direction (holding direction) D2 of the claws 41a and 41b of the workpiece gripping chuck portion 4 of FIG. It can be the same as the direction D1. As a result, the operator indicates the direction D2 of the base 52c1 of the pyramid surface 52c of the tool main body 51 in addition to the direction of movement of the work gripping chuck by the tool main body 51, so You can also enter it.

  The present invention can be implemented in various other forms without departing from the gist or main features thereof. Therefore, the above-mentioned embodiment is only a mere illustration in all points, and should not be interpreted limitedly. The scope of the present invention is indicated by the claims, and is not restricted by the text of the specification. Further, all modifications and changes belonging to the equivalent scope of the claims are within the scope of the present invention.

100 Robot Control System 1 Robot 2 Robot Arm 3 Robot Hand 5 Controller 10 Teaching Pendant 11 Display 11a Software Key 12 Grip 13 Grip 14 Emergency Stop Button 20a Stereo Camera 20b Stereo Camera 30 Personal Computer 50 Teaching Tool (Teaching Tool)
51 Tool body (Auxiliary tool body)
52 Triangular pyramid part 52a First pyramid surface (red)
52b Second pyramid surface (green)
52c Third pyramid surface (blue)
52d Vertex 52e Ridge line 52f formed by the second pyramid surface 52b and the first pyramid surface 52a Ridge line 53 formed by the second pyramid surface 52b and the third pyramid surface 52c Base 54 Handle (grip)
60 obstacles

Claims (6)

A teaching aid for a robot control system capable of teaching using an imaging device,
An auxiliary tool body having a pyramid-shaped portion in which the colors of the pyramid surfaces are different from each other;
A teaching aid for a robot control system, comprising: a grip portion coupled to the assisting tool body. The teaching aid of the robot control system according to claim 1,
The teaching aid of a robot control system, wherein the pyramid-shaped portion is a triangular pyramid shape. The teaching aid of the robot control system according to claim 1 or 2,
The teaching aid of a robot control system, wherein the pyramid-shaped portion further comprises light emitting means for emitting the respective colors of the pyramid surface. A teaching method of a robot control system capable of teaching using an imaging device,
The teaching aid of the robot control system according to any one of claims 1 to 3, wherein the robot hand controlled by the robot control system is held at a position and posture to be stopped or passed. An imaging step of imaging with an imaging device;
A part corresponding to the robot control system teaching aid is recognized based on the shape data or color data of the robot control system teaching aid from the image data captured in this imaging step, and the robot control system teaching An image processing step of calculating three-dimensional position information and three-dimensional direction information of the auxiliary tool;
The three-dimensional position information and the three-dimensional direction information calculated in this image processing step are used as control data for the robot hand by the robot control system based on the relative positional relationship between the robot and the imaging device. A robot control system teaching method, comprising: a conversion step of converting. In the teaching method of the robot control system according to claim 4,
In the image processing step, a three-dimensional coordinate of a vertex of the pyramid-shaped portion and a three-dimensional angle of the direction of the vertex are calculated.   A robot control system that performs teaching by the teaching method of the robot control system according to claim 4 or 5.

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